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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">gen_binocular_rectification_map</span><span data-if="c" style="display:none;">T_gen_binocular_rectification_map</span><span data-if="cpp" style="display:none;">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none;">GenBinocularRectificationMap</span><span data-if="python" style="display:none;">gen_binocular_rectification_map</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">gen_binocular_rectification_map</span><span data-if="c" style="display:none;">T_gen_binocular_rectification_map</span><span data-if="cpp" style="display:none;">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none;">GenBinocularRectificationMap</span><span data-if="python" style="display:none;">gen_binocular_rectification_map</span></code> — Generate transformation maps that describe the mapping of the images
of a binocular camera pair to a common rectified image plane.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>gen_binocular_rectification_map</b>( : <a href="#Map1"><i>Map1</i></a>, <a href="#Map2"><i>Map2</i></a> : <a href="#CamParam1"><i>CamParam1</i></a>, <a href="#CamParam2"><i>CamParam2</i></a>, <a href="#RelPose"><i>RelPose</i></a>, <a href="#SubSampling"><i>SubSampling</i></a>, <a href="#Method"><i>Method</i></a>, <a href="#MapType"><i>MapType</i></a> : <a href="#CamParamRect1"><i>CamParamRect1</i></a>, <a href="#CamParamRect2"><i>CamParamRect2</i></a>, <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, <a href="#RelPoseRect"><i>RelPoseRect</i></a>)</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_gen_binocular_rectification_map</b>(Hobject* <a href="#Map1"><i>Map1</i></a>, Hobject* <a href="#Map2"><i>Map2</i></a>, const Htuple <a href="#CamParam1"><i>CamParam1</i></a>, const Htuple <a href="#CamParam2"><i>CamParam2</i></a>, const Htuple <a href="#RelPose"><i>RelPose</i></a>, const Htuple <a href="#SubSampling"><i>SubSampling</i></a>, const Htuple <a href="#Method"><i>Method</i></a>, const Htuple <a href="#MapType"><i>MapType</i></a>, Htuple* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, Htuple* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, Htuple* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, Htuple* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, Htuple* <a href="#RelPoseRect"><i>RelPoseRect</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>GenBinocularRectificationMap</b>(HObject* <a href="#Map1"><i>Map1</i></a>, HObject* <a href="#Map2"><i>Map2</i></a>, const HTuple&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HTuple&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HTuple&amp; <a href="#RelPose"><i>RelPose</i></a>, const HTuple&amp; <a href="#SubSampling"><i>SubSampling</i></a>, const HTuple&amp; <a href="#Method"><i>Method</i></a>, const HTuple&amp; <a href="#MapType"><i>MapType</i></a>, HTuple* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HTuple* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HTuple* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HTuple* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HTuple* <a href="#RelPoseRect"><i>RelPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>GenBinocularRectificationMap</b>(const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, const HString&amp; <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>GenBinocularRectificationMap</b>(const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const char* <a href="#Method"><i>Method</i></a>, const char* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>::<b>GenBinocularRectificationMap</b>(const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, const wchar_t* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>)  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, const HString&amp; <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const char* <a href="#Method"><i>Method</i></a>, const char* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, const HPose&amp; <a href="#RelPose"><i>RelPose</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, const wchar_t* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const HString&amp; <a href="#Method"><i>Method</i></a>, const HString&amp; <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const char* <a href="#Method"><i>Method</i></a>, const char* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>::<b>GenBinocularRectificationMap</b>(HImage* <a href="#Map2"><i>Map2</i></a>, const HCamPar&amp; <a href="#CamParam1"><i>CamParam1</i></a>, const HCamPar&amp; <a href="#CamParam2"><i>CamParam2</i></a>, double <a href="#SubSampling"><i>SubSampling</i></a>, const wchar_t* <a href="#Method"><i>Method</i></a>, const wchar_t* <a href="#MapType"><i>MapType</i></a>, HCamPar* <a href="#CamParamRect1"><i>CamParamRect1</i></a>, HCamPar* <a href="#CamParamRect2"><i>CamParamRect2</i></a>, HPose* <a href="#CamPoseRect1"><i>CamPoseRect1</i></a>, HPose* <a href="#CamPoseRect2"><i>CamPoseRect2</i></a>, HPose* <a href="#RelPoseRect"><i>RelPoseRect</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>GenBinocularRectificationMap</b>(out <a href="HObject.html">HObject</a> <a href="#Map1"><i>map1</i></a>, out <a href="HObject.html">HObject</a> <a href="#Map2"><i>map2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamParam1"><i>camParam1</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CamParam2"><i>camParam2</i></a>, <a href="HTuple.html">HTuple</a> <a href="#RelPose"><i>relPose</i></a>, <a href="HTuple.html">HTuple</a> <a href="#SubSampling"><i>subSampling</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Method"><i>method</i></a>, <a href="HTuple.html">HTuple</a> <a href="#MapType"><i>mapType</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CamPoseRect1"><i>camPoseRect1</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#CamPoseRect2"><i>camPoseRect2</i></a>, out <a href="HTuple.html">HTuple</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HImage.html">HImage</a>.<b>GenBinocularRectificationMap</b>(<a href="HCamPar.html">HCamPar</a> <a href="#CamParam1"><i>camParam1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParam2"><i>camParam2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPose"><i>relPose</i></a>, double <a href="#SubSampling"><i>subSampling</i></a>, string <a href="#Method"><i>method</i></a>, string <a href="#MapType"><i>mapType</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect1"><i>camPoseRect1</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect2"><i>camPoseRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HCamPar.html">HCamPar</a>.<b>GenBinocularRectificationMap</b>(out <a href="HImage.html">HImage</a> <a href="#Map2"><i>map2</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParam2"><i>camParam2</i></a>, <a href="HPose.html">HPose</a> <a href="#RelPose"><i>relPose</i></a>, double <a href="#SubSampling"><i>subSampling</i></a>, string <a href="#Method"><i>method</i></a>, string <a href="#MapType"><i>mapType</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect1"><i>camPoseRect1</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect2"><i>camPoseRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>)</code></p>
<p>
<code><a href="HImage.html">HImage</a> <a href="HPose.html">HPose</a>.<b>GenBinocularRectificationMap</b>(out <a href="HImage.html">HImage</a> <a href="#Map2"><i>map2</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParam1"><i>camParam1</i></a>, <a href="HCamPar.html">HCamPar</a> <a href="#CamParam2"><i>camParam2</i></a>, double <a href="#SubSampling"><i>subSampling</i></a>, string <a href="#Method"><i>method</i></a>, string <a href="#MapType"><i>mapType</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect1"><i>camParamRect1</i></a>, out <a href="HCamPar.html">HCamPar</a> <a href="#CamParamRect2"><i>camParamRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect1"><i>camPoseRect1</i></a>, out <a href="HPose.html">HPose</a> <a href="#CamPoseRect2"><i>camPoseRect2</i></a>, out <a href="HPose.html">HPose</a> <a href="#RelPoseRect"><i>relPoseRect</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>gen_binocular_rectification_map</b>(<a href="#CamParam1"><i>cam_param_1</i></a>: Sequence[Union[int, float, str]], <a href="#CamParam2"><i>cam_param_2</i></a>: Sequence[Union[int, float, str]], <a href="#RelPose"><i>rel_pose</i></a>: Sequence[Union[int, float]], <a href="#SubSampling"><i>sub_sampling</i></a>: float, <a href="#Method"><i>method</i></a>: str, <a href="#MapType"><i>map_type</i></a>: str) -&gt; Tuple[HObject, HObject, Sequence[Union[int, float, str]], Sequence[Union[int, float, str]], Sequence[Union[int, float]], Sequence[Union[int, float]], Sequence[Union[int, float]]]</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>Given a pair of stereo images, rectification determines a
transformation of each image plane in a way that pairs of conjugate
epipolar lines become collinear and parallel to the horizontal image
axes.  This is required for an efficient calculation of disparities
or distances with operators such as <a href="binocular_disparity.html"><code><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></code></a> or
<a href="binocular_distance.html"><code><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></code></a>.  The rectified images can be thought of
as acquired by a new stereo rig, obtained by rotating and, in case
of telecentric area scan and line scan cameras, translating the
original cameras. The projection centers (i.e., in the telecentric
case, the direction of the optical axes) are maintained.  For
perspective cameras, the image planes are additionally transformed
into a common plane, which means that the focal lengths are set
equal, and the optical axes are parallel.  For a stereo setup of
mixed type (i.e., one perspective and one telecentric camera), the
image planes are also transformed into a common plane, as described
below.
</p>
<p>To achieve the transformation map for rectified images
<code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code> requires the internal camera
parameters <a href="#CamParam1"><i><code><span data-if="hdevelop" style="display:inline">CamParam1</span><span data-if="c" style="display:none">CamParam1</span><span data-if="cpp" style="display:none">CamParam1</span><span data-if="com" style="display:none">CamParam1</span><span data-if="dotnet" style="display:none">camParam1</span><span data-if="python" style="display:none">cam_param_1</span></code></i></a> of camera 1 and <a href="#CamParam2"><i><code><span data-if="hdevelop" style="display:inline">CamParam2</span><span data-if="c" style="display:none">CamParam2</span><span data-if="cpp" style="display:none">CamParam2</span><span data-if="com" style="display:none">CamParam2</span><span data-if="dotnet" style="display:none">camParam2</span><span data-if="python" style="display:none">cam_param_2</span></code></i></a> of
camera 2, as well as the relative pose <a href="#RelPose"><i><code><span data-if="hdevelop" style="display:inline">RelPose</span><span data-if="c" style="display:none">RelPose</span><span data-if="cpp" style="display:none">RelPose</span><span data-if="com" style="display:none">RelPose</span><span data-if="dotnet" style="display:none">relPose</span><span data-if="python" style="display:none">rel_pose</span></code></i></a>,
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</svg></span>,
defining a point transformation from camera coordinate system 2
(<i>ccs2</i>) into camera coordinate system 1 (<i>ccs1</i>), see
<a href="toc_transformations_poses.html">Transformations / Poses</a> and
<code>“Solution Guide III-C - 3D Vision”</code>.
These parameters can be obtained, e.g., from 该算子
<a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>.
</p>
<p>The internal camera parameters, modified by the rectification, are
returned in <a href="#CamParamRect1"><i><code><span data-if="hdevelop" style="display:inline">CamParamRect1</span><span data-if="c" style="display:none">CamParamRect1</span><span data-if="cpp" style="display:none">CamParamRect1</span><span data-if="com" style="display:none">CamParamRect1</span><span data-if="dotnet" style="display:none">camParamRect1</span><span data-if="python" style="display:none">cam_param_rect_1</span></code></i></a> for camera 1 and
<a href="#CamParamRect2"><i><code><span data-if="hdevelop" style="display:inline">CamParamRect2</span><span data-if="c" style="display:none">CamParamRect2</span><span data-if="cpp" style="display:none">CamParamRect2</span><span data-if="com" style="display:none">CamParamRect2</span><span data-if="dotnet" style="display:none">camParamRect2</span><span data-if="python" style="display:none">cam_param_rect_2</span></code></i></a> for camera 2, respectively. The rotation and,
in case of telecentric cameras, translation of the rectified camera
in relation to the original camera is specified by
<a href="#CamPoseRect1"><i><code><span data-if="hdevelop" style="display:inline">CamPoseRect1</span><span data-if="c" style="display:none">CamPoseRect1</span><span data-if="cpp" style="display:none">CamPoseRect1</span><span data-if="com" style="display:none">CamPoseRect1</span><span data-if="dotnet" style="display:none">camPoseRect1</span><span data-if="python" style="display:none">cam_pose_rect_1</span></code></i></a> and <a href="#CamPoseRect2"><i><code><span data-if="hdevelop" style="display:inline">CamPoseRect2</span><span data-if="c" style="display:none">CamPoseRect2</span><span data-if="cpp" style="display:none">CamPoseRect2</span><span data-if="com" style="display:none">CamPoseRect2</span><span data-if="dotnet" style="display:none">camPoseRect2</span><span data-if="python" style="display:none">cam_pose_rect_2</span></code></i></a>,
respectively. These poses are in the form
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</svg></span> with
<i>ccsX</i>: camera coordinate system of camera X and
<i>ccsRX</i>: camera coordinate system of camera X for the rectified
image. Finally, <a href="#RelPoseRect"><i><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></i></a> returns
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</svg></span>, the relative pose of the
rectified camera coordinate system 2 (<i>ccsR2</i>) relative to the
rectified camera coordinate system 1 (<i>ccsR1</i>).
</p>
<h3>Rectification Method</h3>
<p>For perspective area scan cameras, <a href="#RelPoseRect"><i><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></i></a> only has a
translation in x.  Generally, the transformations are defined in a
way that the rectified camera 1 is left of the rectified camera
2. This means that the optical center of camera 2 has a positive x
coordinate of the rectified coordinate system of camera 1.
</p>
<p>The projection onto a common plane has many degrees of freedom,
which are implicitly restricted by selecting a certain method in
<a href="#Method"><i><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></i></a>:
</p>
<ul>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'viewing_direction'</span><span data-if="c" style="display:none">"viewing_direction"</span><span data-if="cpp" style="display:none">"viewing_direction"</span><span data-if="com" style="display:none">"viewing_direction"</span><span data-if="dotnet" style="display:none">"viewing_direction"</span><span data-if="python" style="display:none">"viewing_direction"</span></i> uses the baseline as the x-axis
of the common image plane. The mean of the viewing directions
(z-axes) of the two cameras is used to span the x-z plane of the
rectified system.  The resulting rectified z-axis is the
orientation of the common image plane and as such located in this
plane and orthogonal to the baseline.  In many cases, the
resulting rectified z-axis will not differ much from the mean of
the two old z-axes.  The new focal length is determined in such a
way that the old principal points have the same distance to the
new common image plane.  The different z-axes directions are
illustrated in the schematic below.
</p>
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          <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.96049833px;line-height:1.25;font-family:Arial;-inkscape-font-specification:'Arial, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.20881496" x="40.484249" y="223.5416" id="text5520-2-1" transform="scale(0.78922195,1.2670707)"><tspan id="tspan5518-2-3" x="40.484249" y="223.5416" style="stroke-width:0.20881496">_</tspan></text>
          <text xml:space="preserve" style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.96049833px;line-height:1.25;font-family:Arial;-inkscape-font-specification:'Arial, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:center;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.20881496" x="-359.06708" y="24.044601" id="text5520-3-6" transform="matrix(0,-0.78922195,1.2670707,0,0,0)"><tspan id="tspan5518-26-0" x="-359.06708" y="24.044601" style="stroke-width:0.20881496">_</tspan></text>
        </g>
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  </g>
</svg></td>
</tr>
<tr>
<td align="center">
        (
      1)
    </td>
<td align="center">
        (
      2)
    </td>
</tr>
</table>
<div style="margin-bottom:30px;text-align:center;" class="caption">
Illustration for the different z-axes directions using
<i><span data-if="hdevelop" style="display:inline">'viewing_direction'</span><span data-if="c" style="display:none">"viewing_direction"</span><span data-if="cpp" style="display:none">"viewing_direction"</span><span data-if="com" style="display:none">"viewing_direction"</span><span data-if="dotnet" style="display:none">"viewing_direction"</span><span data-if="python" style="display:none">"viewing_direction"</span></i>.
(1): View facing the base line (in orange).
(2): View along the base line (pointing into the page, in orange).
</div>
</div>

</li>
<li>
<p> <i><span data-if="hdevelop" style="display:inline">'geometric'</span><span data-if="c" style="display:none">"geometric"</span><span data-if="cpp" style="display:none">"geometric"</span><span data-if="com" style="display:none">"geometric"</span><span data-if="dotnet" style="display:none">"geometric"</span><span data-if="python" style="display:none">"geometric"</span></i> specifies the orientation of the common
image plane by the cross product of the baseline and the line of
intersection of the original image planes. The new focal length is
determined in such a way that the old principal points have the
same distance to the new common image plane.
</p>
</li>
</ul>
<p>For telecentric area scan and line scan cameras, the parameter
<a href="#Method"><i><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></i></a> is ignored.  The relative pose of both cameras is
not uniquely defined in such a system since the cameras return
identical images no matter how they are translated along their
optical axis. Yet, in order to define an absolute distance
measurement to the cameras, a standard position of both cameras is
considered. This position is defined as follows: Both cameras are
translated along their optical axes until their distance is one
meter and until the line between the cameras (baseline) forms the
same angle with both optical axes (i.e., the baseline and the
optical axes form an isosceles triangle).  The optical axes remain
unchanged.  The relative pose of the rectified cameras
<a href="#RelPoseRect"><i><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></i></a> may be different from the relative pose of the
original cameras <a href="#RelPose"><i><code><span data-if="hdevelop" style="display:inline">RelPose</span><span data-if="c" style="display:none">RelPose</span><span data-if="cpp" style="display:none">RelPose</span><span data-if="com" style="display:none">RelPose</span><span data-if="dotnet" style="display:none">relPose</span><span data-if="python" style="display:none">rel_pose</span></code></i></a>.
</p>
<p>For a stereo setup of mixed type (i.e., one perspective and one
telecentric camera), the parameter <a href="#Method"><i><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></i></a> is ignored.  The
rectified image plane is determined uniquely from the geometry of
the perspective camera and the relative pose of the two cameras.
The normal of the rectified image plane is the vector that points
from the projection center of the perspective camera to the point on
the optical axis of the telecentric camera that has the shortest
distance from the projection center of the perspective camera.  This
is also the z-axis of the rectified perspective camera.  The
geometric base of the mixed camera system is a line that passes
through the projection center of the perspective camera and has the
same direction as the z-axis of the telecentric camera, i.e., the
base is parallel to the viewing direction of the telecentric camera.
The x-axis of the rectified perspective camera is given by the base
and the y-axis is constructed to form a right-handed coordinate
system.  To rectify the telecentric camera, its optical axis must be
shifted to the base and the image plane must be tilted by
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</svg></span>.  To achieve this, a
special type of object-side telecentric camera that is able to
handle this special rectification geometry (indicated by a negative
image plane distance <code>ImagePlaneDist</code>) must be used for the
rectified telecentric camera.  The representation of this special
camera type should be regarded as a black box because it is used
only for rectification purposes in HALCON (for this reason, it is
not documented in <a href="camera_calibration.html"><code><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></code></a>).  The rectified
telecentric camera has the same orientation as the original
telecentric camera, while its origin is translated to a point on the
base.
</p>
<h3>Rectification Maps</h3>
<p>The mapping functions for the images of camera 1 and camera 2 are
returned in the images <a href="#Map1"><i><code><span data-if="hdevelop" style="display:inline">Map1</span><span data-if="c" style="display:none">Map1</span><span data-if="cpp" style="display:none">Map1</span><span data-if="com" style="display:none">Map1</span><span data-if="dotnet" style="display:none">map1</span><span data-if="python" style="display:none">map_1</span></code></i></a> and <a href="#Map2"><i><code><span data-if="hdevelop" style="display:inline">Map2</span><span data-if="c" style="display:none">Map2</span><span data-if="cpp" style="display:none">Map2</span><span data-if="com" style="display:none">Map2</span><span data-if="dotnet" style="display:none">map2</span><span data-if="python" style="display:none">map_2</span></code></i></a>.
<a href="#MapType"><i><code><span data-if="hdevelop" style="display:inline">MapType</span><span data-if="c" style="display:none">MapType</span><span data-if="cpp" style="display:none">MapType</span><span data-if="com" style="display:none">MapType</span><span data-if="dotnet" style="display:none">mapType</span><span data-if="python" style="display:none">map_type</span></code></i></a> is used to specify the type of the output maps.  If
<i><span data-if="hdevelop" style="display:inline">'nearest_neighbor'</span><span data-if="c" style="display:none">"nearest_neighbor"</span><span data-if="cpp" style="display:none">"nearest_neighbor"</span><span data-if="com" style="display:none">"nearest_neighbor"</span><span data-if="dotnet" style="display:none">"nearest_neighbor"</span><span data-if="python" style="display:none">"nearest_neighbor"</span></i> is chosen, both maps consist of one
image containing one channel, in which for each pixel of the
resulting image the linearized coordinate of the pixel of the input
image is stored that is the nearest neighbor to the transformed
coordinates. If <i><span data-if="hdevelop" style="display:inline">'bilinear'</span><span data-if="c" style="display:none">"bilinear"</span><span data-if="cpp" style="display:none">"bilinear"</span><span data-if="com" style="display:none">"bilinear"</span><span data-if="dotnet" style="display:none">"bilinear"</span><span data-if="python" style="display:none">"bilinear"</span></i> interpolation is chosen, both
maps consists of one image containing five channels. In the first
channel for each pixel in the resulting image the linearized
coordinates of the pixel in the input image is stored that is in the
upper left position relative to the transformed coordinates.  The
four other channels contain the weights of the four neighboring
pixels of the transformed coordinates which are used for the
bilinear interpolation, in the following order:
</p>
<div style="text-align:center"><table style="margin-left:auto;margin-right:auto" class="grid">
<col span="1">
<col span="1">
<tr>
<td style="text-align:center">
2 </td>
<td style="text-align:center"> 3 </td>
</tr>
<tr>
<td style="text-align:center">
4 </td>
<td style="text-align:center"> 5
</td>
</tr>
</table></div>
<p>The second channel, for example, contains the weights of the pixels
that lie to the upper left relative to the transformed coordinates.
If <i><span data-if="hdevelop" style="display:inline">'coord_map_sub_pix'</span><span data-if="c" style="display:none">"coord_map_sub_pix"</span><span data-if="cpp" style="display:none">"coord_map_sub_pix"</span><span data-if="com" style="display:none">"coord_map_sub_pix"</span><span data-if="dotnet" style="display:none">"coord_map_sub_pix"</span><span data-if="python" style="display:none">"coord_map_sub_pix"</span></i> is chosen, both maps consist of
one vector field image, in which for each pixel of the resulting
image the subpixel precise coordinates in the input image are
stored.
</p>
<p>The size and resolution of the maps and of the transformed images
can be adjusted by the <a href="#SubSampling"><i><code><span data-if="hdevelop" style="display:inline">SubSampling</span><span data-if="c" style="display:none">SubSampling</span><span data-if="cpp" style="display:none">SubSampling</span><span data-if="com" style="display:none">SubSampling</span><span data-if="dotnet" style="display:none">subSampling</span><span data-if="python" style="display:none">sub_sampling</span></code></i></a> parameter which applies
a sub-sampling factor to the original images.
</p>
<p>If you want to re-use the created map in another program, you can
save it as a multi-channel image with 该算子
<a href="write_image.html"><code><span data-if="hdevelop" style="display:inline">write_image</span><span data-if="c" style="display:none">write_image</span><span data-if="cpp" style="display:none">WriteImage</span><span data-if="com" style="display:none">WriteImage</span><span data-if="dotnet" style="display:none">WriteImage</span><span data-if="python" style="display:none">write_image</span></code></a>, using the format <i><span data-if="hdevelop" style="display:inline">'tiff'</span><span data-if="c" style="display:none">"tiff"</span><span data-if="cpp" style="display:none">"tiff"</span><span data-if="com" style="display:none">"tiff"</span><span data-if="dotnet" style="display:none">"tiff"</span><span data-if="python" style="display:none">"tiff"</span></i>.</p>
<h2 id="sec_attention">注意</h2>
<p>Stereo setups that contain cameras with and without hypercentric
lenses at the same time are not supported.</p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="Map1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Map1</span><span data-if="c" style="display:none">Map1</span><span data-if="cpp" style="display:none">Map1</span><span data-if="com" style="display:none">Map1</span><span data-if="dotnet" style="display:none">map1</span><span data-if="python" style="display:none">map_1</span></code></b> (output_object)  </span><span>(multichannel-)image <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (int4 / uint2 / vector_field)</span>
</div>
<p class="pardesc">Image containing the mapping data of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Map2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Map2</span><span data-if="c" style="display:none">Map2</span><span data-if="cpp" style="display:none">Map2</span><span data-if="com" style="display:none">Map2</span><span data-if="dotnet" style="display:none">map2</span><span data-if="python" style="display:none">map_2</span></code></b> (output_object)  </span><span>(multichannel-)image <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HImage.html">HImage</a></span><span data-if="c" style="display:none">Hobject *</span> (int4 / uint2 / vector_field)</span>
</div>
<p class="pardesc">Image containing the mapping data of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParam1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParam1</span><span data-if="c" style="display:none">CamParam1</span><span data-if="cpp" style="display:none">CamParam1</span><span data-if="com" style="display:none">CamParam1</span><span data-if="dotnet" style="display:none">camParam1</span><span data-if="python" style="display:none">cam_param_1</span></code></b> (input_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Internal parameters of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParam2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParam2</span><span data-if="c" style="display:none">CamParam2</span><span data-if="cpp" style="display:none">CamParam2</span><span data-if="com" style="display:none">CamParam2</span><span data-if="dotnet" style="display:none">camParam2</span><span data-if="python" style="display:none">cam_param_2</span></code></b> (input_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Internal parameters of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="RelPose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RelPose</span><span data-if="c" style="display:none">RelPose</span><span data-if="cpp" style="display:none">RelPose</span><span data-if="com" style="display:none">RelPose</span><span data-if="dotnet" style="display:none">relPose</span><span data-if="python" style="display:none">rel_pose</span></code></b> (input_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Point transformation from camera 2 to camera 1.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="SubSampling" class="parname"><b><code><span data-if="hdevelop" style="display:inline">SubSampling</span><span data-if="c" style="display:none">SubSampling</span><span data-if="cpp" style="display:none">SubSampling</span><span data-if="com" style="display:none">SubSampling</span><span data-if="dotnet" style="display:none">subSampling</span><span data-if="python" style="display:none">sub_sampling</span></code></b> (input_control)  </span><span>real <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">float</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real)</span><span data-if="dotnet" style="display:none"> (<i>double</i>)</span><span data-if="cpp" style="display:none"> (<i>double</i>)</span><span data-if="c" style="display:none"> (<i>double</i>)</span></span>
</div>
<p class="pardesc">Subsampling factor.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>1.0</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span>0.5, 0.66, 1.0, 1.5, 2.0, 3.0, 4.0</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Method" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Method</span><span data-if="c" style="display:none">Method</span><span data-if="cpp" style="display:none">Method</span><span data-if="com" style="display:none">Method</span><span data-if="dotnet" style="display:none">method</span><span data-if="python" style="display:none">method</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Type of rectification.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'viewing_direction'</span>
    <span data-if="c" style="display:none">"viewing_direction"</span>
    <span data-if="cpp" style="display:none">"viewing_direction"</span>
    <span data-if="com" style="display:none">"viewing_direction"</span>
    <span data-if="dotnet" style="display:none">"viewing_direction"</span>
    <span data-if="python" style="display:none">"viewing_direction"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'geometric'</span><span data-if="c" style="display:none">"geometric"</span><span data-if="cpp" style="display:none">"geometric"</span><span data-if="com" style="display:none">"geometric"</span><span data-if="dotnet" style="display:none">"geometric"</span><span data-if="python" style="display:none">"geometric"</span>, <span data-if="hdevelop" style="display:inline">'viewing_direction'</span><span data-if="c" style="display:none">"viewing_direction"</span><span data-if="cpp" style="display:none">"viewing_direction"</span><span data-if="com" style="display:none">"viewing_direction"</span><span data-if="dotnet" style="display:none">"viewing_direction"</span><span data-if="python" style="display:none">"viewing_direction"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="MapType" class="parname"><b><code><span data-if="hdevelop" style="display:inline">MapType</span><span data-if="c" style="display:none">MapType</span><span data-if="cpp" style="display:none">MapType</span><span data-if="com" style="display:none">MapType</span><span data-if="dotnet" style="display:none">mapType</span><span data-if="python" style="display:none">map_type</span></code></b> (input_control)  </span><span>string <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">str</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string)</span><span data-if="dotnet" style="display:none"> (<i>string</i>)</span><span data-if="cpp" style="display:none"> (<i>HString</i>)</span><span data-if="c" style="display:none"> (<i>char*</i>)</span></span>
</div>
<p class="pardesc">Type of mapping.</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'bilinear'</span>
    <span data-if="c" style="display:none">"bilinear"</span>
    <span data-if="cpp" style="display:none">"bilinear"</span>
    <span data-if="com" style="display:none">"bilinear"</span>
    <span data-if="dotnet" style="display:none">"bilinear"</span>
    <span data-if="python" style="display:none">"bilinear"</span>
</p>
<p class="pardesc"><span class="parcat">List of values:
      </span><span data-if="hdevelop" style="display:inline">'bilinear'</span><span data-if="c" style="display:none">"bilinear"</span><span data-if="cpp" style="display:none">"bilinear"</span><span data-if="com" style="display:none">"bilinear"</span><span data-if="dotnet" style="display:none">"bilinear"</span><span data-if="python" style="display:none">"bilinear"</span>, <span data-if="hdevelop" style="display:inline">'coord_map_sub_pix'</span><span data-if="c" style="display:none">"coord_map_sub_pix"</span><span data-if="cpp" style="display:none">"coord_map_sub_pix"</span><span data-if="com" style="display:none">"coord_map_sub_pix"</span><span data-if="dotnet" style="display:none">"coord_map_sub_pix"</span><span data-if="python" style="display:none">"coord_map_sub_pix"</span>, <span data-if="hdevelop" style="display:inline">'nearest_neighbor'</span><span data-if="c" style="display:none">"nearest_neighbor"</span><span data-if="cpp" style="display:none">"nearest_neighbor"</span><span data-if="com" style="display:none">"nearest_neighbor"</span><span data-if="dotnet" style="display:none">"nearest_neighbor"</span><span data-if="python" style="display:none">"nearest_neighbor"</span></p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParamRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParamRect1</span><span data-if="c" style="display:none">CamParamRect1</span><span data-if="cpp" style="display:none">CamParamRect1</span><span data-if="com" style="display:none">CamParamRect1</span><span data-if="dotnet" style="display:none">camParamRect1</span><span data-if="python" style="display:none">cam_param_rect_1</span></code></b> (output_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Rectified internal parameters of camera 1.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamParamRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamParamRect2</span><span data-if="c" style="display:none">CamParamRect2</span><span data-if="cpp" style="display:none">CamParamRect2</span><span data-if="com" style="display:none">CamParamRect2</span><span data-if="dotnet" style="display:none">camParamRect2</span><span data-if="python" style="display:none">cam_param_rect_2</span></code></b> (output_control)  </span><span>campar <code>→</code> <span data-if="dotnet" style="display:none"><a href="HCamPar.html">HCamPar</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Rectified internal parameters of camera 2.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamPoseRect1" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamPoseRect1</span><span data-if="c" style="display:none">CamPoseRect1</span><span data-if="cpp" style="display:none">CamPoseRect1</span><span data-if="com" style="display:none">CamPoseRect1</span><span data-if="dotnet" style="display:none">camPoseRect1</span><span data-if="python" style="display:none">cam_pose_rect_1</span></code></b> (output_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Point transformation from the rectified camera 1 to
the original camera 1.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CamPoseRect2" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CamPoseRect2</span><span data-if="c" style="display:none">CamPoseRect2</span><span data-if="cpp" style="display:none">CamPoseRect2</span><span data-if="com" style="display:none">CamPoseRect2</span><span data-if="dotnet" style="display:none">camPoseRect2</span><span data-if="python" style="display:none">cam_pose_rect_2</span></code></b> (output_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Point transformation from the rectified camera 1 to
the original camera 1.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="RelPoseRect" class="parname"><b><code><span data-if="hdevelop" style="display:inline">RelPoseRect</span><span data-if="c" style="display:none">RelPoseRect</span><span data-if="cpp" style="display:none">RelPoseRect</span><span data-if="com" style="display:none">RelPoseRect</span><span data-if="dotnet" style="display:none">relPoseRect</span><span data-if="python" style="display:none">rel_pose_rect</span></code></b> (output_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">Point transformation from the rectified camera 2 to
the rectified camera 1.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
<div data-if="hdevelop" style="display:inline">
<h2 id="sec_example_hdevelop">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1,'viewing_direction', 'bilinear',\
                                 CamParamRect1, CamParamRect2, \
                                 CamPoseRect1, CamPoseRect2, \
                                 RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, \
                      'sad', 11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="c" style="display:none">
<h2 id="sec_example_c">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1,'viewing_direction', 'bilinear',\
                                 CamParamRect1, CamParamRect2, \
                                 CamPoseRect1, CamPoseRect2, \
                                 RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, \
                      'sad', 11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="cpp" style="display:none">
<h2 id="sec_example_cpp">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1,'viewing_direction', 'bilinear',\
                                 CamParamRect1, CamParamRect2, \
                                 CamPoseRect1, CamPoseRect2, \
                                 RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, \
                      'sad', 11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="com" style="display:none">
<h2 id="sec_example_com">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1,'viewing_direction', 'bilinear',\
                                 CamParamRect1, CamParamRect2, \
                                 CamPoseRect1, CamPoseRect2, \
                                 RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, \
                      'sad', 11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<div data-if="dotnet" style="display:none">
<h2 id="sec_example_dotnet">例程 (HDevelop)</h2>
<pre class="example">
* Set internal and external stereo parameters.
* Note that, typically, these values are the result of a prior
* calibration.
gen_cam_par_area_scan_division (0.01, -665, 5.2e-006, 5.2e-006, \
                                622, 517, 1280, 1024, CamParam1)
gen_cam_par_area_scan_division (0.01, -731, 5.2e-006, 5.2e-006, \
                                654, 519, 1280, 1024, CamParam2)
create_pose (0.1535,-0.0037,0.0447,0.17,319.84,359.89, \
             'Rp+T', 'gba', 'point', RelPose)

* Compute the mapping for rectified images.
gen_binocular_rectification_map (Map1, Map2, CamParam1, CamParam2, \
                                 RelPose, 1,'viewing_direction', 'bilinear',\
                                 CamParamRect1, CamParamRect2, \
                                 CamPoseRect1, CamPoseRect2, \
                                 RelPoseRect)

* Compute the disparities in online images.
while (1)
  grab_image_async (Image1, AcqHandle1, -1)
  map_image (Image1, Map1, ImageMapped1)

  grab_image_async (Image2, AcqHandle2, -1)
  map_image (Image2, Map2, ImageMapped2)

  binocular_disparity(ImageMapped1, ImageMapped2, Disparity, Score, \
                      'sad', 11, 11, 20, -40, 20, 2, 25, \
                      'left_right_check', 'interpolation')
endwhile
</pre>
</div>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">gen_binocular_rectification_map</span><span data-if="c" style="display:none">gen_binocular_rectification_map</span><span data-if="cpp" style="display:none">GenBinocularRectificationMap</span><span data-if="com" style="display:none">GenBinocularRectificationMap</span><span data-if="dotnet" style="display:none">GenBinocularRectificationMap</span><span data-if="python" style="display:none">gen_binocular_rectification_map</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all
parameter values are correct. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="binocular_calibration.html"><span data-if="hdevelop" style="display:inline">binocular_calibration</span><span data-if="c" style="display:none">binocular_calibration</span><span data-if="cpp" style="display:none">BinocularCalibration</span><span data-if="com" style="display:none">BinocularCalibration</span><span data-if="dotnet" style="display:none">BinocularCalibration</span><span data-if="python" style="display:none">binocular_calibration</span></a></code>
</p>
<h2 id="sec_successors">可能的后置算子</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>
</p>
<h2 id="sec_alternatives">可替代算子</h2>
<p>
<code><a href="gen_image_to_world_plane_map.html"><span data-if="hdevelop" style="display:inline">gen_image_to_world_plane_map</span><span data-if="c" style="display:none">gen_image_to_world_plane_map</span><span data-if="cpp" style="display:none">GenImageToWorldPlaneMap</span><span data-if="com" style="display:none">GenImageToWorldPlaneMap</span><span data-if="dotnet" style="display:none">GenImageToWorldPlaneMap</span><span data-if="python" style="display:none">gen_image_to_world_plane_map</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="map_image.html"><span data-if="hdevelop" style="display:inline">map_image</span><span data-if="c" style="display:none">map_image</span><span data-if="cpp" style="display:none">MapImage</span><span data-if="com" style="display:none">MapImage</span><span data-if="dotnet" style="display:none">MapImage</span><span data-if="python" style="display:none">map_image</span></a></code>, 
<code><a href="binocular_disparity.html"><span data-if="hdevelop" style="display:inline">binocular_disparity</span><span data-if="c" style="display:none">binocular_disparity</span><span data-if="cpp" style="display:none">BinocularDisparity</span><span data-if="com" style="display:none">BinocularDisparity</span><span data-if="dotnet" style="display:none">BinocularDisparity</span><span data-if="python" style="display:none">binocular_disparity</span></a></code>, 
<code><a href="binocular_distance.html"><span data-if="hdevelop" style="display:inline">binocular_distance</span><span data-if="c" style="display:none">binocular_distance</span><span data-if="cpp" style="display:none">BinocularDistance</span><span data-if="com" style="display:none">BinocularDistance</span><span data-if="dotnet" style="display:none">BinocularDistance</span><span data-if="python" style="display:none">binocular_distance</span></a></code>, 
<code><a href="binocular_disparity_mg.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_mg</span><span data-if="c" style="display:none">binocular_disparity_mg</span><span data-if="cpp" style="display:none">BinocularDisparityMg</span><span data-if="com" style="display:none">BinocularDisparityMg</span><span data-if="dotnet" style="display:none">BinocularDisparityMg</span><span data-if="python" style="display:none">binocular_disparity_mg</span></a></code>, 
<code><a href="binocular_distance_mg.html"><span data-if="hdevelop" style="display:inline">binocular_distance_mg</span><span data-if="c" style="display:none">binocular_distance_mg</span><span data-if="cpp" style="display:none">BinocularDistanceMg</span><span data-if="com" style="display:none">BinocularDistanceMg</span><span data-if="dotnet" style="display:none">BinocularDistanceMg</span><span data-if="python" style="display:none">binocular_distance_mg</span></a></code>, 
<code><a href="binocular_disparity_ms.html"><span data-if="hdevelop" style="display:inline">binocular_disparity_ms</span><span data-if="c" style="display:none">binocular_disparity_ms</span><span data-if="cpp" style="display:none">BinocularDisparityMs</span><span data-if="com" style="display:none">BinocularDisparityMs</span><span data-if="dotnet" style="display:none">BinocularDisparityMs</span><span data-if="python" style="display:none">binocular_disparity_ms</span></a></code>, 
<code><a href="binocular_distance_ms.html"><span data-if="hdevelop" style="display:inline">binocular_distance_ms</span><span data-if="c" style="display:none">binocular_distance_ms</span><span data-if="cpp" style="display:none">BinocularDistanceMs</span><span data-if="com" style="display:none">BinocularDistanceMs</span><span data-if="dotnet" style="display:none">BinocularDistanceMs</span><span data-if="python" style="display:none">binocular_distance_ms</span></a></code>, 
<code><a href="gen_image_to_world_plane_map.html"><span data-if="hdevelop" style="display:inline">gen_image_to_world_plane_map</span><span data-if="c" style="display:none">gen_image_to_world_plane_map</span><span data-if="cpp" style="display:none">GenImageToWorldPlaneMap</span><span data-if="com" style="display:none">GenImageToWorldPlaneMap</span><span data-if="dotnet" style="display:none">GenImageToWorldPlaneMap</span><span data-if="python" style="display:none">gen_image_to_world_plane_map</span></a></code>, 
<code><a href="contour_to_world_plane_xld.html"><span data-if="hdevelop" style="display:inline">contour_to_world_plane_xld</span><span data-if="c" style="display:none">contour_to_world_plane_xld</span><span data-if="cpp" style="display:none">ContourToWorldPlaneXld</span><span data-if="com" style="display:none">ContourToWorldPlaneXld</span><span data-if="dotnet" style="display:none">ContourToWorldPlaneXld</span><span data-if="python" style="display:none">contour_to_world_plane_xld</span></a></code>, 
<code><a href="image_points_to_world_plane.html"><span data-if="hdevelop" style="display:inline">image_points_to_world_plane</span><span data-if="c" style="display:none">image_points_to_world_plane</span><span data-if="cpp" style="display:none">ImagePointsToWorldPlane</span><span data-if="com" style="display:none">ImagePointsToWorldPlane</span><span data-if="dotnet" style="display:none">ImagePointsToWorldPlane</span><span data-if="python" style="display:none">image_points_to_world_plane</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
3D Metrology</p>
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